针穿刺软组织变形有限元仿真.pdfVIP

第 21 卷第 11 期 计算机辅助设计与图形学学报 Vo l. 2 1. No.11 2009 年 11 月 jQURNAL OF COMPUTER-AIDED DESIGN . COMPUTER GRAPHICS 芥lov. , 2009 针穿剌软组织变形有限元仿真 高德东]) 高宜罪21 郑浩暖2) 1) (青海大学机械系 西宁 810016) 2(清华大学精密仪器及机械学系 北京 100084) (gaodd@qh飞1. edu. cn) 摘 要 为了提高机器人辅助针穿刺精度，提出一种对软组织变形分析的准静态有限元法.该方法基于针受力下软 组织变形机理，将软组织变形的连续动态过程分解成离散的准静态过程;采用重叠单元法在 ANSYS 中建立了软组 织变形的二维和兰维准静态有限元模型，并进行了仿真实验.最后通过实验结果验证了该方法的有效性和可行性. 关链词 针穿剌;软组织变形;准静态有限元法F 动态仿真 Iþ圈法分类号 TP391 A Finite Element Approach for Simulating Soft Tissue Deformation during 资eedle Insertion Gao Dedongll Gao Yipeng21 Zheng Haojun21 口 (De户artment of Mechanical Engineering , Qinghai University , Xining 810016) 2l (Deþartment of Precision lnstruments and [Y1.echanics , Tsinghua University , Beijing 100084) Abstract A quasi-static finite element approach is presented to simulatεsoft tissue deformation during robot-assisted needle insertion with satisfactory precision. Based on the needle force analysis and soft tissue deformation attributes , the dynamic process of soft tissue deformation during nεedle ln民主tion is decomposed into a set of discrete quasi-static stages. At each stage , we derive the two and three dimensional quasi-statÌc finite element models by ANSYS software with superposed element method. Experimental results demonstrate the validity and the applicability of our mεthod for soft tissue deformation. Key words needle insertion; soft tissue deformation; quasi-static finite element method; dynamic simulation 在针穿剌过程中，人为误差和靶点位置误差是 现代医疗技术的发展趋势是橄创和勇部化治 疗[1J 针穿剌是应用在一般活栓、是部麻醉和近距敢 影响穿府i 精度的主要原因之一山，并亘可能会导致 射等外科诊疗中最基本的辙创手术(minimal invasion 严重的并发症.近年来，研究人员采用抗器人辅勘针 surgery , MIS) 器械.大量外科诊断、治疗和研究都 穿剌技术问降低穿剌靶点误差，提高治愈率.软组织